#ifndef _SBA_DEMO_H_
#define _SBA_DEMO_H_

#define SBA_MAX_REPROJ_ERROR    4.0 // max motion only reprojection error

#define BA_NONE                 -1
#define BA_MOTSTRUCT            0
#define BA_MOT                  1
#define BA_STRUCT               2
#define BA_MOT_MOTSTRUCT        3

/* in eucsbademo.c */
void sba_driver(char *camsfname, char *ptsfname, char *calibfname, int cnp, int pnp, int mnp,
                       void (*caminfilter)(double *pin, int nin, double *pout, int nout),
                       void (*camoutfilter)(double *pin, int nin, double *pout, int nout),
                       int cnfp, char *refcamsfname, char *refptsfname, double **motstruct_out);
void quat2vec(double *inp, int nin, double *outp, int nout);
void vec2quat(double *inp, int nin, double *outp, int nout);

#endif /* _SBA_DEMO_H_ */
